#!/bin/bash
# Mesher parameters.
# General functionality for the mesher.
--add_extra_lmks_from_stereo=false
--reduce_mesh_to_time_horizon=true

# Visualization.
--visualize_histogram_1D=false
--log_histogram_1D=false
--visualize_histogram_2D=false
--log_histogram_2D=false
--visualize_mesh_2d=false
--visualize_mesh_2d_filtered=true

# Mesh filters.
--max_grad_in_triangle=-1
--min_ratio_btw_largest_smallest_side=0.5
--min_elongation_ratio=0.5
--max_triangle_side=0.5

# Association.
--normal_tolerance_polygon_plane_association=0.021
--distance_tolerance_polygon_plane_association=0.20
--normal_tolerance_plane_plane_association=0.011
--distance_tolerance_plane_plane_association=0.20
--do_double_association=true
--only_associate_a_polygon_to_a_single_plane=true

# Segmentation.
--normal_tolerance_horizontal_surface=0.035
--normal_tolerance_walls=0.021
--only_use_non_clustered_points=true

# Histogram 2D.
--hist_2d_gaussian_kernel_size=3
--hist_2d_nr_of_local_max=2
--hist_2d_min_support=20
--hist_2d_min_dist_btw_local_max=5
--hist_2d_theta_bins=40
--hist_2d_distance_bins=40
--hist_2d_theta_range_min=0
--hist_2d_theta_range_max=3.14159265
--hist_2d_distance_range_min=-6.0
--hist_2d_distance_range_max=6.0

# Z histogram.
--z_histogram_bins=512
--z_histogram_min_range=-0.75
--z_histogram_max_range=3.0
--z_histogram_window_size=3
--z_histogram_peak_per=0.5
--z_histogram_min_support=50
--z_histogram_min_separation=0.1
--z_histogram_gaussian_kernel_size=5
--z_histogram_max_number_of_peaks_to_select=3
